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    RotTableDrive: Target position of rotary table not reached (InPos error)

    English 🠦 Deutsch

    Symptoms

    Although the rotary table with the object NexeedRotTableDrive reaches the target nest position a position error occurs:
    SteffenR-_0-1623746162826.png

    When we increased the settling time parameter of the object the error occured less and less:
    SteffenR-_2-1623746536694.png

    But due to a critical cycle time this was no solution.

     

    Diagnosis

    The customer has ordered our coaching support so we were able to check the problem in detail.

    The position range in the object was ok and had only a little effect:
    SteffenR-_1-1623746435530.png

    The same applies for the standstill window in the IndraDrive:
    SteffenR-_3-1623746709063.png

     

    So finally we started a scope measurement and then it was quite obviously:
    SteffenR-_7-1623747698158.png

     

    Solution

    The IndraDrive had to be optimized with IndraWorks. In this case especially the jerk settings were bad.

    Now everything runs fine without settling time.

    The condition for "in position" of NexeedRotTableDrive V2.3.6.0:

    _modResult := MOD(_axisPos, _nestDistance);
    OutImm.InPos :=
            
    ( ( _modResult                      <  _parCfg.InPosRange ) OR
               ( ABS(_modResult - _nestDistance) <= _parCfg.InPosRange )    ) AND
             (   _axis.OutImm.AxisInReference                               ) AND
             (   _axis.OutImm.StandStill                                    );

    Deutsch 🠦 English

    Symptome

    Obwohl der Drehtisch mit dem Objekt NexeedRotTableDrive die Zielnestposition erreicht, tritt ein Positionsfehler auf:
    SteffenR-_0-1623746162826.png

    Mit steigender SettlingTime, tritt der Fehler immer seltener auf:
    SteffenR-_2-1623746536694.png

    Doch diese Lösung ist nicht pratikabel, da sie die Zykluszeit negativ beeinflusst.

     

    Diagnose

    Der Kunde hat unseren Coaching-Support bestellt, so dass wir das Problem im Detail überprüfen konnten.

    Der Positionsbereich im Objekt war ok und hatte nur einen geringen Effekt:

    SteffenR-_1-1623746435530.png

    Gleiches gilt für das Stillstandsfenster im IndraDrive:
    SteffenR-_3-1623746709063.png

     

    Also haben wir schlussendlich eine Scope-Messung gestartet und dann war es ganz offensichtlich:
    SteffenR-_7-1623747698158.png

     

    Lösung

    Der IndraDrive musste mit IndraWorks optimiert werden. In diesem Fall waren vor allem die Ruckeinstellungen schlecht.

    Jetzt läuft alles gut, ohne die SettelingTime zu anpassen zu müssen.

    Die Bedingung für "in Position" von NexeedRotTableDrive V2.3.6.0:

    _modResult := MOD(_axisPos, _nestDistance);
    OutImm.InPos :=
            
    ( ( _modResult                      <  _parCfg.InPosRange ) OR
               ( ABS(_modResult - _nestDistance) <= _parCfg.InPosRange )    ) AND
             (   _axis.OutImm.AxisInReference                               ) AND
             (   _axis.OutImm.StandStill                                    );

    Version history
    Revision #:
    7 of 7
    Last update:
    3 weeks ago
    Updated by:
     
    Contributors
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